def quaternion_cleanup(object, prevent_flips=True, prevent_inverts=True):
"""fixes signs in quaternion fcurves swapping from one frame to another"""
for curves in get_all_quaternion_curves(object):
start = int(min((curves[i].keyframe_points[0].co.x for i in range(4))))
end = int(max((curves[i].keyframe_points[-1].co.x for i in range(4))))
for curve in curves:
for i in range(start, end):
curve.keyframe_points.insert(i, curve.evaluate(i)).interpolation = 'LINEAR'
zipped = list(zip(
curves[0].keyframe_points,
curves[1].keyframe_points,
curves[2].keyframe_points,
curves[3].keyframe_points))
for i in range(1, len(zipped)):
if prevent_flips:
rot_prev = Quaternion((zipped[i-1][j].co.y for j in range(4)))
rot_cur = Quaternion((zipped[i][j].co.y for j in range(4)))
diff = rot_prev.rotation_difference(rot_cur)
if abs(diff.angle - pi) < 0.5:
rot_cur.rotate(Quaternion(diff.axis, pi))
for j in range(4):
zipped[i][j].co.y = rot_cur[j]
if prevent_inverts:
change_amount = 0.0
for j in range(4):
change_amount += abs(zipped[i-1][j].co.y - zipped[i][j].co.y)
if change_amount > 1.0:
for j in range(4):
zipped[i][j].co.y *= -1.0
def debug_boundmesh(self, subsets, skeldata):
vert_offset = 0
for set, bone in zip(subsets, skeldata):
if not set.faces:
continue
# Negate trans to account for flipped axes
trans = Vector(bone.position)
trans.negate()
# Rotate rot quaternion to account for flipped axes
rot = Quaternion(bone.rotation)
rot.rotate( Quaternion((0,0,0,1)) )
relative_zero = rot * trans
verts = []
faces = []
for vert in set.vertices:
# Relative vertex position: Absolute position - bone position
# I guess?
verts.append( rot * Vector(vert) + relative_zero )
# Create object and mesh
mesh = bpy.data.meshes.new(bone.name)
object = bpy.data.objects.new(bone.name, mesh)
bpy.context.scene.objects.link(object)
bpy.context.scene.objects.active = object
# Load vertices and faces
mesh.from_pydata(verts, [], [])
def transform_rot(keyframes, matrix):
for frame in keyframes.keys():
axis, angle = Quaternion(keyframes[frame]).to_axis_angle()
axis.rotate(matrix)
quat = Quaternion(axis, angle)
quat.normalize()
keyframes[frame] = tuple(quat)
def resetRoll(self, context: bpy.types.Context):
sv3d, rv3d = getViews3D(context)
viewPos, rot, viewDir = prepareCameraTransformation(sv3d, rv3d)
up = Vector((0, 1, 0))
up.rotate(rot)
py = getPitchYaw(viewDir, up)
newRot = Quaternion(Vector((1, 0, 0)), py[0])
if py[0] != 0:
newRot.rotate(Quaternion(Vector((0, 0, 1)), py[1]))
applyCameraTranformation(sv3d, rv3d, viewPos, newRot)
def import_skeleton(self, data):
skeldata = BoneData.build_bones(data)
# Create armature and object
name = 'Armature'
bpy.ops.object.add(type='ARMATURE',
enter_editmode=True,
location=(0, 0, 0))
# Armature object
ob = bpy.context.active_object
ob.show_in_front = True
ob.name = name
# Armature
amt = ob.data
amt.display_type = 'STICK'
# Create bones from skeleton data
# Sims 2 bones seem to be reversed head to tail
for bonedata in skeldata:
bone = amt.edit_bones.new(bonedata.name)
# Negate trans to account for flipped axes
trans = Vector(bonedata.position)
trans.negate()
# Rotate rot quaternion to account for flipped axes
rot = Quaternion(bonedata.rotation)
rot.rotate(Quaternion((0, 0, 0, 1)))
bone.head = rot @ trans
if bonedata.parent != None:
parent = amt.edit_bones[bonedata.parent]
bone.parent = parent
bone.tail = parent.head
# Check if the length of a bone is too short for blender
bonelen = bone.tail.length - bone.head.length
if bonelen > -0.0005 and bonelen < 0.0005:
# Blender does not support 0 length bones
bone.head += Vector((0, 0, 0.00005))
# Enter custom properties for exporting later
# # Translate Vector and Rotation Quaternion
bone["translate"] = [
bonedata.position[0], bonedata.position[1],
bonedata.position[2]
]
bone["rotation"] = [
bonedata.rotation[0], bonedata.rotation[1],
bonedata.rotation[2], bonedata.rotation[3]
]
# Go back to Object mode
bpy.ops.object.mode_set(mode='OBJECT')
# Return the Armature object
return ob
def rand_rot(v, mean_branch_angle):
v_temp = Vector((v.x, v.z, v.y))
cross1 = v.cross(v_temp)
cross2 = v.cross(cross1)
branch_angle = random.gauss(mean_branch_angle, branch_sigma)
q1 = Quaternion(cross1, radians(branch_angle))
q2 = Quaternion(q1)
angle = random.uniform(0.0, math.pi)
q1.rotate(Quaternion(v, angle))
q2.rotate(Quaternion(v, angle + math.pi))
return q1.to_euler(), q2.to_euler()
def load_camera(dmx_camera_path):
camera_data = load(dmx_camera_path)
scene = camera_data.root
camera_info = scene['camera']
fov = camera_info['fieldOfView']
aperture = camera_info['aperture']
if 'channelsClip' in scene:
camera_clip = scene['channelsClip']
else:
camera_clip = scene['animationList']['animations'][0]
fps = camera_clip['frameRate']
camera = bpy.data.cameras.new(name=camera_info.name)
camera_obj = bpy.data.objects.new(camera_info.name, camera)
bpy.context.scene.collection.objects.link(camera_obj)
camera_obj.location = Vector(camera_info['transform']['position'])
camera_obj.rotation_quaternion = Quaternion(
camera_info['transform']['orientation'])
camera.lens = 0.5 * 36 / math.tan(math.radians(fov) / 2)
camera_obj.rotation_mode = 'QUATERNION'
for channel in camera_clip['channels']:
value_log = channel['log']
value_layer = value_log['layers'][0]
if channel.name.endswith('_p'):
for time, value in zip(value_layer['times'],
value_layer['values']):
frame = math.ceil(time * fps)
pos = Vector([value[1], -value[0], value[2]])
camera_obj.location = pos
camera_obj.keyframe_insert(data_path="location", frame=frame)
elif channel.name.endswith('_o'):
for time, value in zip(value_layer['times'],
value_layer['values']):
frame = math.ceil(time * fps)
quat = Quaternion([value[1], value[3], value[0], value[2]])
quat.rotate(Euler([-math.pi / 2, 0, -math.pi]))
camera_obj.rotation_quaternion = quat
camera_obj.keyframe_insert(data_path="rotation_quaternion",
frame=frame)
elif channel.name.endswith('_fieldOfView') or channel.name.endswith(
'fieldOfView'):
for time, value in zip(value_layer['times'],
value_layer['values']):
frame = math.ceil(time * fps)
camera.lens = 0.5 * 36 / math.tan(math.radians(value) / 2)
camera.keyframe_insert(data_path="lens", frame=frame)
pass
def pan3dView(self, rv3d: bpy.types.RegionView3D, delta: Vector,
sensitivity):
if sensitivity == 0:
return
viewPos, _viewDir = getViewPos(rv3d)
rot = Quaternion(rv3d.view_rotation)
yawRot = Quaternion(Vector((0, 0, 1)),
-delta[0] * 0.017453292 * sensitivity)
pitchAxis = Vector((1, 0, 0))
pitchAxis.rotate(rot)
pitchRot = Quaternion(pitchAxis, delta[1] * 0.017453292 * sensitivity)
rot.rotate(pitchRot)
rot.rotate(yawRot)
rv3d.view_rotation = rot
setViewPos(rv3d, viewPos)
def create_armature(hskn: HSKN):
model_name = Path(hskn.name).stem
armature = bpy.data.armatures.new(f"{model_name}_ARM_DATA")
armature_obj = bpy.data.objects.new(f"{model_name}_ARM", armature)
armature_obj.show_in_front = True
bpy.context.scene.collection.objects.link(armature_obj)
armature_obj.select_set(True)
bpy.context.view_layer.objects.active = armature_obj
bpy.ops.object.mode_set(mode='EDIT')
bl_bones = []
for n, bone in enumerate(hskn.bones):
parent_id = hskn.bone_parents[n]
bl_bone = armature.edit_bones.new(bone.name)
bl_bone.tail = (Vector([0, 0, 0.1])) + bl_bone.head
bl_bones.append(bl_bone)
if n != 0:
bl_bone.parent = armature.edit_bones.get(
hskn.bones[parent_id].name)
bl_bones.clear()
bpy.ops.object.mode_set(mode='POSE')
for n, bone in enumerate(hskn.bones):
bone_pos_rot = hskn.pos_rot_data[n]
bl_bone = armature_obj.pose.bones.get(bone.name)
x, y, z = bone_pos_rot.pos
pos = Vector([x, y, z])
w, x, y, z = bone_pos_rot.rot
rot = Quaternion([x, -y, -z, w])
rot.rotate(Euler([math.radians(0),
math.radians(180),
math.radians(0)]))
mat = Matrix.Translation(pos) @ rot.to_matrix().to_4x4()
bl_bone.matrix_basis.identity()
bl_bone.matrix = bl_bone.parent.matrix @ mat if bl_bone.parent else mat
bpy.ops.pose.armature_apply()
bpy.ops.object.mode_set(mode='OBJECT')
return armature_obj
def operation_rotate(self, q, p):
qr = Quaternion(q)
qr.rotate(p)
return qr
def convert_source_rotation(rot: List[float]):
qrot = Quaternion([rot[0], rot[1], -rot[3], rot[2]])
qrot.rotate(Euler([0, -90, 0]))
return qrot
def operation_rotate(self, q, p):
qr = Quaternion(q)
qr.rotate(p)
return qr
def extract(properties, *args, **kargs):
dirpath = bpy.path.abspath(properties.dirpath)
if not dirpath:
raise AttributeError(
'COLMAP Workspace Directory must be provided.\nCameras, images and points3D files must exist.'
)
# find the requisite files in either format
requisites = ['cameras', 'images', 'points3D']
extensions = ['.bin', '.txt', None]
for ext in extensions:
if not ext:
raise AttributeError(
'COLMAP Workspace Directory must contain:\ncameras, images and points3D files.\nThese files must be in either .BIN or .TXT format.'
)
elif len([
f for f in os.listdir(dirpath) for c in requisites
if f == f'{c}{ext}'
]) == 3:
# found the correct set of files with this extension
break
# check for a project.ini as it may contain an alternate image path setting
try:
# https://stackoverflow.com/a/25493615
with open(os.path.join(dirpath, 'project.ini'), 'r') as f:
config_string = f'[DEFAULT]\n{f.read()}'
config = ConfigParser()
config.read_string(config_string)
image_path = config['DEFAULT']['image_path']
except:
image_path = os.path.join(dirpath, '..', 'images')
cameras = {}
trackers = {}
data = {'trackers': trackers, 'cameras': cameras}
# https://colmap.github.io/format.html
try:
ccameras, images, points3D = read_model(dirpath, ext=ext)
except Exception as ex:
raise AttributeError(
f'Error when reading COLMAP workspace directory:\n{str(ex)}')
model = list(ccameras.values())[0]
resolution = (model.width, model.height)
data.setdefault('resolution', resolution)
def shift(co):
# COLMAP uses the convention that the upper left image corner has coordinate (0, 0)
# and the center of the upper left most pixel has coordinate (0.5, 0.5).
# Translate the point to the center of the image.
return (co[0] - resolution[0] / 2.0 + 0.5,
co[1] - resolution[1] / 2.0 + 0.5)
for idx, i in images.items():
camera = ccameras[i.camera_id]
f, cx, cy = parse_camera_param_list(camera)
filename = i.name.strip()
if not os.path.isabs(filename) or not os.path.isfile(filename):
filename = os.path.join(image_path, filename)
# The coordinates of the projection/camera center are given by -R^t * T,
# where R^t is the inverse/transpose of the 3x3 rotation matrix composed
# from the quaternion and T is the translation vector. The local camera
# coordinate system of an image is defined in a way that the X axis points
# to the right, the Y axis to the bottom, and the Z axis to the front as
# seen from the image.
R = Quaternion(i.qvec).to_matrix()
R.transpose()
# c = -R^T t
T = Vector(i.tvec)
c = -1 * R @ T
# t = -R * c
R.transpose()
R.rotate(Euler((pi, 0, 0)))
t = -1 * R @ c
cameras.setdefault(
idx, {
'filename': filename,
'f': f,
'k': (0, 0, 0),
't': tuple(t),
'principal': (cx, cy),
'R': tuple(map(tuple, tuple(R))),
'trackers': {
i.point3D_ids[tidx]: shift(i.xys[tidx])
for tidx in range(len(i.xys)) if i.point3D_ids[tidx] >= 0
},
})
for idx, p in points3D.items():
trackers.setdefault(idx, {
'co': tuple(p.xyz),
'rgb': tuple(p.rgb),
'error': p.error,
})
return data
def execute(self, context):
print("Export", self.properties.filepath)
version = Version()
model = Model()
texture = Textures()
material = Materials()
geosets = []
bones = []
pivotpoints = model.PivotPoints()
meshcount = 0
file = open(self.properties.filepath, 'w')
for obj in bpy.context.scene.objects:
if obj.type == 'MESH':
# depsgraph = context.evaluated_depsgraph_get()
# mesh = bpy.data.meshes.new_from_object(obj.evaluated_get(depsgraph), preserve_all_data_layers=True, depsgraph=depsgraph)
mesh = obj.data
mesh.transform(obj.matrix_world)
geoset = model.Geoset()
mesh.calc_loop_triangles()
armatures = []
for modifier in obj.modifiers:
if modifier.type == 'ARMATURE' and modifier.use_vertex_groups:
armatures.append(modifier.object)
for armature in armatures:
loadarmature(armature,bones,pivotpoints)
# bone_names = set(b.name for b in armature.object.data.bones)
for vertex in mesh.vertices:
geoset.Vertices.append([vertex.co[0]*20,vertex.co[1]*20,vertex.co[2]*20])
geoset.Normals.append([vertex.normal[0],vertex.normal[1],vertex.normal[2]])
vgroups = sorted(vertex.groups[:], key=lambda x:x.weight, reverse=True)
if len(vgroups):
group = list(list(filter(lambda b: b.Name == obj.vertex_groups[vg.group].name, bones))[0].ObjectId for vg in vgroups if vg.weight > 0.25)[:3]
else:
group = [0]
if group not in geoset.Groups:
geoset.Groups.append(group)
geoset.VertexGroup.append(geoset.Groups.index(group))
for group in geoset.Groups:
for g in group:
bones[g].GeosetId = meshcount
geoset.TVertices = [[0.0,0.0]] * len(geoset.Vertices)
for tri in mesh.loop_triangles:
geoset.Faces.append((tri.vertices[0],tri.vertices[1],tri.vertices[2]))
for i in range(3):
geoset.TVertices[mesh.loops[tri.loops[i]].vertex_index] = [mesh.uv_layers.active.data[tri.loops[i]].uv[0],1 - mesh.uv_layers.active.data[tri.loops[i]].uv[1]]
geosets.append(geoset)
meshcount += 1
version.FormatVersion = 800
model.Name = "test"
model.NumGeosets = meshcount
model.BlendTime = 150
model.NumBones = len(bones)
version.write(file)
model.write(file)
texture.write(file)
material.write(file)
for geoset in geosets:
geoset.write(file)
for bone in bones:
if bone.ParentName:
bone.Parent = list(filter(lambda b: b.Name == bone.ParentName, bones))[0].ObjectId
for k,frame in bone.Translation.items():
bone.Translation[k] = list(armature.matrix_world @ Vector(frame))
for k,frame in bone.Rotation.items():
axis, angle = Quaternion(frame).to_axis_angle()
axis.rotate(armature.matrix_world)
quat = Quaternion(axis, angle)
quat.normalize()
bone.Rotation[k] = [quat[1],quat[2],quat[3],quat[0]]
bone.write(file)
pivotpoints.write(file)
return {'FINISHED'}
def extract(properties, *args, **kargs):
dirpath = bpy.path.abspath(properties.dirpath)
# find the requisite files in either format
requisites = ['cameras', 'images', 'points3D']
extensions = ['.bin', '.txt']
files = [
f for f in os.listdir(dirpath) for c in requisites if f.startswith(c)
]
ext = set(extensions).intersection(
[os.path.splitext(r)[1].lower() for r in files])
if len(files) != 3 or len(ext) != 1:
raise Exception(
'COLMAP sparse reconstruction must contain a cameras, images and points3D file in .BIN or .TXT format'
)
# check for a project.ini as it may contain an alternate image path setting
try:
# https://stackoverflow.com/a/25493615
with open(os.path.join(dirpath, 'project.ini'), 'r') as f:
config_string = f'[DEFAULT]\n{f.read()}'
config = ConfigParser()
config.read_string(config_string)
image_path = config['DEFAULT']['image_path']
except:
image_path = dirpath
cameras = {}
trackers = {}
data = {'trackers': trackers, 'cameras': cameras}
# https://colmap.github.io/format.html
ccameras, images, points3D = read_model(dirpath, ext=ext.pop())
model = list(ccameras.values())[0]
resolution = (model.width, model.height)
data.setdefault('resolution', resolution)
for idx, i in images.items():
camera = ccameras[i.camera_id]
f, cx, cy = parse_camera_param_list(camera)
filename = i.name.strip()
if not os.path.isabs(filename) or not os.path.isfile(filename):
filename = os.path.join(image_path, filename)
# The coordinates of the projection/camera center are given by -R^t * T,
# where R^t is the inverse/transpose of the 3x3 rotation matrix composed
# from the quaternion and T is the translation vector. The local camera
# coordinate system of an image is defined in a way that the X axis points
# to the right, the Y axis to the bottom, and the Z axis to the front as
# seen from the image.
R = Quaternion(i.qvec).to_matrix()
R.transpose()
# c = -R^T t
T = Vector(i.tvec)
c = -1 * R @ T
# t = -R * c
R.transpose()
R.rotate(Euler((pi, 0, 0)))
t = -1 * R @ c
cameras.setdefault(
idx, {
'filename': filename,
'f': f,
'k': (0, 0, 0),
't': tuple(t),
'principal': (cx, cy),
'R': tuple(map(tuple, tuple(R))),
'trackers': {},
})
for idx, p in points3D.items():
trackers.setdefault(idx, {'co': tuple(p.xyz), 'rgb': tuple(p.rgb)})
# COLMAP uses the convention that the upper left image corner has coordinate (0, 0)
# and the center of the upper left most pixel has coordinate (0.5, 0.5).
for image_idx, image_id in enumerate(p.image_ids):
# COLMAP db format allows more dimensions, but sparse file format may not reperesent it
# to be safe, truncated coords to 2 dimensions
co = list(images[image_id].xys[p.point2D_idxs[image_idx]])[:2]
co[0] = co[0] - resolution[0] / 2.0 + 0.5
co[1] = co[1] - resolution[1] / 2.0 + 0.5
cameras[p.image_ids[0]]['trackers'].setdefault(idx, co)
return data
